CN107398911A - It is a kind of that the manipulator for carrying out grasping force control is controlled with position - Google Patents
It is a kind of that the manipulator for carrying out grasping force control is controlled with position Download PDFInfo
- Publication number
- CN107398911A CN107398911A CN201610328669.2A CN201610328669A CN107398911A CN 107398911 A CN107398911 A CN 107398911A CN 201610328669 A CN201610328669 A CN 201610328669A CN 107398911 A CN107398911 A CN 107398911A
- Authority
- CN
- China
- Prior art keywords
- finger
- submissive
- mainframe
- manipulator
- pull bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000463 material Substances 0.000 claims description 2
- 235000021028 berry Nutrition 0.000 abstract description 4
- 235000013601 eggs Nutrition 0.000 abstract description 3
- 235000016623 Fragaria vesca Nutrition 0.000 abstract description 2
- 240000009088 Fragaria x ananassa Species 0.000 abstract description 2
- 235000011363 Fragaria x ananassa Nutrition 0.000 abstract description 2
- 244000132436 Myrica rubra Species 0.000 abstract description 2
- 238000002474 experimental method Methods 0.000 abstract description 2
- 238000013519 translation Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000003306 harvesting Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
A kind of manipulator that power control is clamped with position control.Including hard and soft series-parallel connection finger, stepper motor, line slideway auxiliary, angular transducer, rigid finger, mainframe.Wherein, the submissive finger of hard and soft hybrid connected structure is made up of pull bar and submissive finger.Rigid finger is fixed on mainframe, can be rotated between pull bar and mainframe, pull bar and submissive finger；There is a line slideway auxiliary between submissive finger actuation end and mainframe, drive feed screw nut pair to be translated by stepper motor；The end of submissive finger deforms under translation to rigid finger orientation；After object is by rigid finger and submissive fingerhold, in the case of no more than object crushing force, experiment value according to measuring in advance continues to apply certain amount of feeding to submissive finger actuation end, with chucking power expected from the generation between submissive finger tips and rigid finger.The present invention is used for the such as berry such as glassware, strawberry, red bayberry, and eggs etc. and easily damages the clamping of article.
Description
Technical field
The present invention relates to a kind of manipulator, more particularly, to a kind of manipulator that power control is clamped with position control.
Background technology
The article that such as berry, eggs, glass etc. easily damage, in automation, the harvesting of mechanization or packaging process, all inevitably produce clipping operation.They easily sustain damage under chucking power, all there is size difference between individual is big for these other objects, the finger position control to manipulator is relied only on during clamping can not complete clamping task, and the manipulator that can be accurately controlled clamping force is always the study hotspot in manipulator research and development field.Solution method main at present is in the detection of the retaining part installation pressure sensor progress chucking power of manipulator, then carries out the closed-loop control of chucking power by the controlling unit of manipulator mechanism.This mode is very directly perceived, and people research and develop accurate pressure sensor to adapt to the demand of small grasping force control in effort all the time.But miniature force snesor sensing original paper directly contacts with object, the requirement for being on the one hand easily contaminated thus being sealed to sensor is very high, and on the other hand contact repeatedly, which is pressurized, causes sensor easily tired failure.Furthermore, in the case of clamping object body is irregular, the actual bite of manipulator is difficult to determine, this, which just needs to increase more pressure sensors, is detected, the probability of useful signal is produced with increase clamping force snesor, it is increasingly complex in turn result in control logic.In addition, using input signal of the value of feedback of pressure sensor as chucking power closed-loop control, it is necessary under small grip(per) feed amount, gradually detection, computing, output, will slowly clamp greatly, operating efficiency is low.For problem above, the present invention proposes a kind of manipulator that power control is clamped with position control, under conditions of pressure sensor is not used, by carrying out position control to the clamp system of manipulator to realize the control to chucking power, and realizes Quick-clamped.
The content of the invention
It is an object of the invention to provide a kind of manipulator that power control is clamped with position control, hard and soft series-parallel connection finger drives feed screw nut pair by servomotor, is driven under location control mode, to control clamping force to be designed as target.In order to achieve the above object, the technical solution adopted by the present invention is：
A kind of manipulator that power control is clamped with position control.Including hard and soft series-parallel connection finger, stepper motor, line slideway auxiliary, angular transducer, rigid finger, mainframe.Wherein, the submissive finger of hard and soft hybrid connected structure is made up of pull bar and submissive finger.Rigid finger is fixed on mainframe, can be rotated between pull bar and mainframe, pull bar and submissive finger；There is a line slideway auxiliary between submissive finger actuation end and mainframe, drive feed screw nut pair to be translated by stepper motor；The end of submissive finger deforms under translation to rigid finger orientation；After object is by rigid finger and submissive fingerhold, in the case of no more than object crushing force, experiment value according to measuring in advance continues to apply certain amount of feeding to submissive finger actuation end, with chucking power expected from the generation between submissive finger tips and rigid finger.The present invention is used for the such as berry such as glassware, strawberry, red bayberry, and eggs etc. and easily damages the clamping of article.
The invention has the advantages that：For bite within the specific limits but in the case of the clipping operation that can not accurately determine, and under conditions of without using force snesor, the real time position St conversions of rotational angle theta t and sliding block 5 based on pull bar 7, are obtained to obtain the displacement increment Δ Sf of chucking power Fn and required sliding block 5.By accurately controlling the corner of servomotor or servomotor 4, to control the accurate amount of feeding Δ Sf at submissive finger actuation end, the accurate control to chucking power is realized.Simultaneously, it is not necessary to which pressure sensor carries out the direct detection of chucking power, also avoids the need for carrying out gradually pressure detecting, again computing, the clamping of outgoing position stepping-in amount drive mechanism, so as to effectively improve clamping efficiency.
The present invention is simple in construction, and operation is easy, and motion is flexible, and other devices such as clamping operation, cooperative mechanical arm available for fragile goods such as the quick flexible harvesting of berry fruit or glasswares can realize the operations such as harvesting, the packaging of efficient high reliability.
Brief description of the drawings
Fig. 1 is a kind of isometric view for the manipulator that power control is clamped with position control, Fig. 2 is a kind of manipulator that power control is clamped with position control, front view under non-clamp position, Fig. 3 be it is a kind of with position control be clamped power control manipulator, the front view under clamp position.In figure：1. mainframe, 2. rigid fingers, 3. objects, 4. servomotors, 5. sliding blocks, 6. submissive fingers, 7. pull bars, 8. rotating shafts, 9. screw mandrels, 10. screws, 11 guide rails, 12. screws, 13. rotating shafts, 14. angular transducers, 15. screws.
Embodiment
As shown in the figure, the implementation of the present invention includes two fingers, rigid finger 2 is installed on the mainframe 1 of manipulator, fixed by screw 10, the mode that slide rail 11 is connected with is fixed on mainframe 1, servomotor 4 is fixedly mounted on mainframe 1 by screw 12, and pull bar 7 is be hinged by bearing pin 8 with mainframe 1.Sliding block 5 is coupled with guide rail 11 using dovetail groove sliding pair, and servomotor 4 and screw mandrel 9 are direct-connected, have screwed hole on sliding block 5, is connected between screw mandrel 9 by the way of worm drive are secondary.Under the driving of servomotor 4, sliding block 5 can vertical direction slides in figure relative to guide rail 11.Submissive finger 6 is made using soft rubber or silica gel material, and the upper end of submissive finger 6 is connected with sliding block 5 by the way of interference fit, and the lower end of submissive finger 6 is hinged with the lower end of pull bar 7 by bearing pin 12.Angular transducer 14 is arranged on mainframe 1, fixed by screw 15, the rotating shaft of angular transducer 14 and bearing pin 8 are coaxial, the rotating shaft of angular transducer 14 is fixed together with pull bar 7 by the way of pin-and-hole interference fit, so corner of the pull bar 7 relative to mainframe 1, can be obtained by the output signal of angular transducer 14.
Clamping process is divided into several small feeding steps and is gradually completing.In each feeding step, the pulsed drive servomotor 4 that specified number is sent by manipulator control system rotates, and rotating angle increment Δ α occurs for corresponding screw mandrel 9, then sliding block 5 produces a downward displacement increment Δ S.The now rotating angle increment Δ θ of detection angles sensor 13, if Δ θ is on the occasion of illustrating that pull bar 7 is rotating, i.e., the lower end of submissive finger 6 not yet contacts with object 3.Continue to increase sliding block 5 downward displacement increment Δ S, the rotating angle increment Δ θ of detection angles sensor 13, if Δ θ is zero, illustrate that the lower end of submissive finger 6 has contacted with object 3；Then, positional value St of the manipulator control system according to where each small feeding increment accumulation of record calculates current slide 5, and read the rotational angle theta t of the generation of current angular sensor 13, then in order to obtain setting chucking power Fn, by running the displacement increment Δ Sf of sliding block 5 needed for Controlling model calculating, and Equivalent Calculation goes out the pulse number nf needed for servomotor 4.Last control system sends nf pulse to the driver of servomotor 4, to obtain expected chucking power, completes whole clamping process.The reverse impulse for adding up number is specified the drive end of submissive finger 6 is returned to initial position to servomotor 4, that is, complete uninstall process as long as uninstall process is sent by manipulator control system.
Claims (3)
- A kind of 1. manipulator that power control is clamped with position control, it is characterised in that：Including mainframe（1）, submissive finger（6）, servomotor（4）, pull bar（7）, angular transducer（14）.
- A kind of 2. manipulator that power control is clamped with position control according to claim 1, it is characterised in that：Pull bar（7）With mainframe（1）Pass through bearing pin（8）It is be hinged, angular transducer（14）Rotating shaft and bearing pin（8）Coaxially, angular transducer（14）Rotating shaft and pull bar（7）It is connected.
- A kind of 3. manipulator that power control is clamped with position control according to claim 1, it is characterised in that：Servomotor（4）Drive the submissive finger being made up of flexible material（6）Drive end, make submissive finger（6）It is deformed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610328669.2A CN107398911A (en) | 2016-05-18 | 2016-05-18 | It is a kind of that the manipulator for carrying out grasping force control is controlled with position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610328669.2A CN107398911A (en) | 2016-05-18 | 2016-05-18 | It is a kind of that the manipulator for carrying out grasping force control is controlled with position |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107398911A true CN107398911A (en) | 2017-11-28 |
Family
ID=60394008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610328669.2A Pending CN107398911A (en) | 2016-05-18 | 2016-05-18 | It is a kind of that the manipulator for carrying out grasping force control is controlled with position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107398911A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571475A (en) * | 2018-12-06 | 2019-04-05 | 中国科学院长春光学精密机械与物理研究所 | A kind of power Tactile control system and robot |
| CN110640732A (en) * | 2019-09-30 | 2020-01-03 | 佛山科学技术学院 | Adaptive grabbing method and grabbing system of flexible clamper |
| CN110871450A (en) * | 2019-11-28 | 2020-03-10 | 季华实验室 | Dexterous finger mechanism, manipulator and control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6240508A (en) * | 1985-08-16 | 1987-02-21 | Agency Of Ind Science & Technol | Hybrid control method for force and position of manipulator |
| CN1557610A (en) * | 2004-01-16 | 2004-12-29 | 清华大学 | Shape memory alloy differential spring driven manipulator |
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| CN104029208A (en) * | 2013-03-08 | 2014-09-10 | 河北农业大学 | Rigid and flexible parallel connected under-driving strawberry picking manipulator tail end actuator device |
-
2016
- 2016-05-18 CN CN201610328669.2A patent/CN107398911A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6240508A (en) * | 1985-08-16 | 1987-02-21 | Agency Of Ind Science & Technol | Hybrid control method for force and position of manipulator |
| CN1557610A (en) * | 2004-01-16 | 2004-12-29 | 清华大学 | Shape memory alloy differential spring driven manipulator |
| CN104029208A (en) * | 2013-03-08 | 2014-09-10 | 河北农业大学 | Rigid and flexible parallel connected under-driving strawberry picking manipulator tail end actuator device |
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571475A (en) * | 2018-12-06 | 2019-04-05 | 中国科学院长春光学精密机械与物理研究所 | A kind of power Tactile control system and robot |
| CN110640732A (en) * | 2019-09-30 | 2020-01-03 | 佛山科学技术学院 | Adaptive grabbing method and grabbing system of flexible clamper |
| CN110640732B (en) * | 2019-09-30 | 2022-10-11 | 佛山科学技术学院 | Self-adaptive grabbing method of flexible gripper |
| CN110871450A (en) * | 2019-11-28 | 2020-03-10 | 季华实验室 | Dexterous finger mechanism, manipulator and control method |
| CN110871450B (en) * | 2019-11-28 | 2021-07-27 | 季华实验室 | Dexterous finger mechanism, manipulator and control method |
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Application publication date: 20171128 |